Charging control system, charging station, autonomously driving work machine and control method for a charging control system

Abstract

Charging control system, comprising: an autonomously driving work machine (2) comprising a battery (17) and performing a predetermined work while driving autonomously; and a charging station (3) for charging the battery, characterized in that the autonomously driving work machine comprises a period calculation unit (202) for calculating a shutdown period of a supply power supplied by the charging station, and a first communication unit (25), The charging station includes: a second communication unit (314) communicating with the first communication unit; an information receiving unit (311B) for receiving period information indicating the shutdown period from the first communication unit via the second communication unit; a shutdown unit (312) for switching off the delivery power; and a shutdown control unit (311C) for controlling an operation of the shutdown unit, and wherein the shutdown control unit enables the shutdown of the supply power based on the period information.

Description

Background of the inventionField of the invention

[0001] The present invention relates to a charging control system, a charging station, an autonomously driving work machine and a control method for a charging control system. Description of the state of the art

[0002] A lawnmower that autonomously drives in a lawn area and cuts grass is known as one of autonomously driving work machines that works while driving autonomously (see, for example, Patent Literature 1: JP 2017-10161A).

[0003] The lawn mower described in Patent Literature 1 is powered by a battery, and the battery is connected to a charging station for charging. Summary of the invention

[0004] However, the lawn mower described in JP 2017-10161A has room to reduce power consumption.

[0005] In the lawn mower, for example, the battery is connected to the charging station even when the battery is fully charged, which can cause power to be consumed.

[0006] The present invention has an object to provide a charging control system, a charging station, an autonomously driving work machine and a control method for a charging control system which are capable of reducing power consumption.

[0007] According to one aspect of the present invention, a charging control system comprises: an autonomously driving work machine including a battery and performing predetermined work while autonomously driving; and a charging station for charging the battery, wherein the autonomously driving work machine includes a period calculation unit for calculating a cut-off period of supply power supplied from the charging station and a first communication unit, wherein the charging station includes: a second communication unit that communicates with the first communication unit; an information acquisition unit for acquiring period information indicating the cut-off period from the first communication unit via the second communication unit; a cut-off unit for cutting off the supply power;and a shutdown control unit for controlling an operation of the shutdown unit, and wherein the shutdown control unit enables the shutdown of the supply power based on the period information.;

[0008] According to another aspect of the present invention, in the above charging control system, the autonomous driving work machine includes a calculation unit for calculating the shutdown period based on a current time and a date and time when the predetermined work has been started.

[0009] According to yet another aspect of the present invention, in the above charging control system, the autonomous driving work machine includes a charging time calculation unit for calculating a charging time required to complete charging of the battery based on a remaining amount of the battery, and the period calculation unit calculates the shutdown period based on the charging time and the date and time when the predetermined work starts.

[0010] According to still another aspect of the present invention, in the above charging control system, when charging of the battery has been completed, the cut-off control unit cuts off the supply power.

[0011] According to still another aspect of the present invention, in the above charging control system, when the shutdown period has elapsed, the shutdown control unit enables the shutdown of the supply power.

[0012] According to still another aspect of the present invention, in the above charging control system, the autonomous working machine includes a transition unit for causing the autonomous working machine to transition from a normal state to a power saving state when charging of the battery has been completed.

[0013] According to still another aspect of the present invention, in the above charging control system, when the shutdown period has elapsed, the transition unit causes the autonomous driving work machine to transition from the power saving state to the normal state.

[0014] According to yet another aspect of the present invention, in the above charging control system, the autonomous working machine includes an internal power supply circuit for generating an operating power for the autonomous working machine based on power stored in the battery, and wherein the transition unit cuts off the power supply from the battery to the internal power supply circuit when charging of the battery has been completed.

[0015] According to yet another aspect of the present invention, in the above charging control system, the charging control system is configured to be capable of supplying power from the charging station to the internal power supply circuit, and during a period when supplying power from the battery is cut off, when supplying power from the charging station to the internal power supply circuit is started, the internal power supply circuit generates power for driving the transition unit with the power supplied from the charging station.

[0016] According to yet another aspect of the present invention, a charging station for charging a battery of an autonomously traveling work machine for performing predetermined work while traveling autonomously comprises: an information acquisition unit for acquiring period information indicating a cut-off period of supply power supplied to the autonomously traveling work machine from the autonomously traveling work machine and by communicating with the autonomously traveling work machine; a cut-off unit for cutting off the supply power; and a cut-off control unit for controlling an operation of the cut-off unit, wherein the cut-off control unit enables the cut-off of the supply power based on the period information.

[0017] According to yet another aspect of the present invention, an autonomously driving work machine including a battery and performing predetermined work while autonomously driving comprises: a period calculation unit for calculating a cut-off period of the supply power supplied from the charging station; and a transmission unit for transmitting period information defining the cut-off period to the charging station, wherein the charging station receives the period information and enables the cut-off of the supply power based on the period information.

[0018] According to yet another aspect of the present invention, a control method of a charging control system including an autonomously driving work machine including a battery and performing predetermined work while autonomously traveling, and a charging station for charging the battery, comprises: a calculation step of calculating, by the autonomously driving work machine, a cut-off period of supply power supplied from the charging station; a transmission step of transmitting period information indicating the cut-off period to the charging station by the autonomously driving work machine; an information acquisition step of acquiring the period information by the charging station; a cut-off step of cutting off the supply power by the charging station;and an enabling step for enabling the charging station to turn off the delivery power based on the period information.;

[0019] According to these aspects of the present invention, power consumption can be reduced. Short description of the drawings Fig. 1 is a diagram showing an example of a configuration of an unmanned lawn mower system according to an embodiment of the present invention; Fig. 2 is a side view showing an example of a configuration of an autonomous driving work machine; Fig. 3 is a graph showing an example of a power delivery path for a battery; Fig. 4 is a diagram showing an example of a configuration of a charging control system; Fig. 5 is a diagram showing an example of a configuration of a first control unit and an example of a configuration of a second control unit; Fig. 6 is a timing chart showing an example of operation of a switch; Fig. 7 is a flowchart showing an example of processing of the first control unit; Fig. 8 is a flowchart showing an example of processing of the second control unit.

[0020] Detailed Description of the Preferred Embodiments Embodiments will be given hereinafter with reference to the drawings. [1. Configuration of an unmanned lawnmower system][1-1. Overall configuration of an unmanned lawnmower system]

[0021] Fig. 1 is a diagram showing a configuration of an unmanned lawn mower system 1 according to the present embodiment.

[0022] An unmanned lawn mower system 1 comprises a robotic lawn mower 2, an area wire 5 for defining a lawn mowing area AR, which is a target to be subjected to lawn mowing work, and a charging station 3.

[0023] The robot lawn mower 2 is an autonomous-driving type working machine that mows lawn grass while autonomously performing unmanned driving within the lawn mowing area AR. The area wire 5 is a member to be laid along a boundary A by a dealer or the like, thereby enabling the robot lawn mower 2 to detect the boundary A of the lawn mowing area AR. In the following embodiment, the laid area wire 5 is magnetized, and the robot lawn mower 2 detects the boundary A of the lawn mowing area AR by detecting the magnetism of the area wire 5. The robot lawn mower 2 corresponds to an example of an "autonomous-driving working machine."

[0024] The charging station 3 includes a control board 31 for charging the robotic lawnmower 2 and is installed within the lawnmowing area AR. The control board 31 is described in detail with reference to Fig. 4. The charging station 3 is also a standby location for the robotic lawnmower 2 under a non-working condition. The robotic lawnmower 2 is configured to return to the charging station 3 by autonomous driving when a lawnmowing job has been completed and to receive a charge in a suitable manner at the charging station 3. [1-2. Configuring a robotic lawnmower]

[0025] Fig. 2 is a side view showing an example of a configuration of the robot lawn mower 2 according to the present embodiment.

[0026] The robotic lawnmower 2 may be referred to as the lawnmower 2 in the following description.

[0027] The lawn mower 2 includes a housing 11, right and left front wheels 12 provided at a front portion of the housing 11, right and left rear wheels 13 provided at a rear portion of the housing 11, and a working unit 14 provided at a central lower portion of the housing 11. The working unit 14 is a cutting blade disc provided with a cutting blade and capable of cutting grass by rotating the cutting blade disc.

[0028] The lawn mower 2 includes right and left travel motors 15, a working unit drive motor 16, a battery 17, a wheel speed sensor 18, and a first control unit 20. The housing 11 accommodates the right and left travel motors 15, the working unit drive motor 16, the battery 17, the wheel speed sensor 18, and the first control unit 20.

[0029] The corresponding right and left travel motors 14 drive the right and left rear wheels 13 individually, respectively. The travel motors 15 drive the rear wheels 13 in accordance with an instruction from the first control unit 20, whereby the lawn mower 2 travels. The work unit drive motor 16 drives the work unit 14. The work unit drive motor 16 drives the work unit 14 in accordance with an instruction from the first control unit 20, whereby the lawn mowing work is performed. The battery 17 supplies operating power to each unit of the lawn mower 2. The wheel speed sensor 18 detects the rotation speed of the right and left rear wheels 13, which serve as drive wheels. A detection signal from the wheel speed sensor 18 is transmitted to the first control unit 20.

[0030] The first control unit 20 controls the operation of each unit of the lawn mower 2. The first control unit 20 includes, for example, a processor, such as a central processing unit (CPU), and a memory, such as a random access memory (RAM) or a read-only memory (ROM). Data such as map data relating to a target work area, plan data of a lawn mowing job, and a control program are stored in the memory. The first control unit 20 will be described in detail with reference to Fig. 4 and Fig. 5 are described. [1-3. Configuration of a charging control system]

[0031] Fig. 3 is a diagram showing an example of a power delivery path of the battery 17 in a charging control system 100.

[0032] The charging control system 100 comprises a conversion device 4, a charging station 3, and a robotic lawnmower 2. The charging control system 100 controls charging of the battery 17 of the robotic lawnmower 2.

[0033] As shown in Fig. 3, power supplied from a commercial power supply is supplied to the battery 17 via the conversion device 4 and the charging station 3.

[0034] The conversion device 4 includes a connector 41 and an AC / DC adapter 42. The connector 41 is connected to the commercial power supply. The AC / DC adapter 42 converts an AC voltage supplied by the commercial power supply into a DC voltage. The connector 41 and the AC / DC adapter 42 are connected to each other by a power wire PW1.

[0035] The charging station 3 includes a control board 31, a connection unit 32, and a support table 33. A second control unit 311 is attached to the control board 31. The second control unit 311 controls the operation of the charging station 3. The second control unit 311 includes, for example, a processor, such as a CPU, and a memory, such as RAM or ROM. Data, such as a control program, is stored in the memory. The second control unit 311 will be described in detail with reference to Fig. 4 and Fig. 5. The conversion device 4 and the charging station 3 are connected to each other by a power cable PW2.

[0036] The connection unit 32 connects the charging station 3 and the lawn mower 2, allowing power transfer between them. The lawn mower 2 is placed on the stand table 33. The connection unit 32 is configured to connect the charging station 3 and the lawn mower 2, allowing power transfer between the charging station 3 and the lawn mower 2 when the lawn mower 2 is placed on the stand table 33. This means that when the lawn mower 2 is placed on the stand table 33, power can be supplied from the charging station 3 to the lawn mower 2. When the lawn mower 2 is placed on the stand table 33, the connection unit 32 and the battery 17 are connected to each other by a power cable PW3. In other words, when the lawn mower 2 is placed on the stand table 33, power can be transferred from the charging station 3 to the battery 17.

[0037] Fig. 4 is a diagram showing an example of a configuration of the charging control system 100. In Fig. 4, a path for a delivery power is indicated by a solid line and a path for transmitting a signal and a path for transmitting information are indicated by broken lines.

[0038] The second control unit 311, a third switch 312, a current detection circuit 313 and a second communication unit 314 are attached to the control board 31 of the charging station 3.

[0039] A current detection circuit 313 is arranged between the AC / DC adapter 42 and the connection unit 32. The current detection circuit 313 detects a current value of a charging current JB supplied from the AC / DC adapter 42 to the battery 17. A third signal SG3, which indicates the current value detected by the current detection circuit 313, is transmitted to the second control unit 311.

[0040] The third switch 312 is arranged between the current detection circuit 313 and the connection unit 32. The third switch 312 is switched between ON and OFF according to a fourth signal SG4 from the second control unit 311. When the third switch 312 is set to ON, power is allowed to be supplied from the charging station 3 to the lawn mower 2. The third switch 312 corresponds to an example of a "disconnect unit."

[0041] The second communication unit 314 communicates with a first communication unit 25 of the lawn mower 2. For example, the second communication unit 314 communicates wirelessly with the first communication unit 25 of the lawn mower 2. Specifically, the second communication unit 314 communicates with the first communication unit 25 through wireless communication, such as Bluetooth (registered trademark). Furthermore, the second communication unit 314 may communicate with the first communication unit 25 through wireless communication based on a standard, such as a wireless LAN (including Wi-Fi (registered trademark)).

[0042] The lawn mower 2 comprises the first control unit 20, a first switch 22, a second switch 23, an internal power supply circuit 24 and the first communication unit 25.

[0043] The first switch 22 is arranged between the connection unit 32 and the battery 17. The first switch 22 is switched between ON and OFF according to a first signal SG1 from the first control unit 20. When the third switch 312 is set to ON and the first switch 22 is set to ON, power is allowed to be supplied from the charging station 3 to the battery 17. In other words, the battery 17 can be charged.

[0044] The second switch 23 is arranged between the battery 17 and the internal power supply circuit 24. The second switch 23 is switched between ON and OFF in accordance with a second signal SG2 from the first control unit 20. When the second switch 23 is set to ON, power is allowed to be supplied from the battery 17 to the internal power supply circuit 24. In this case, electrical power can be supplied from the internal power supply circuit 24 to each unit of the lawn mower 2.

[0045] The internal power supply circuit 24 is connected to the connection unit 32 and is connected to the battery 17 via the second switch 23. When the second switch 23 is turned ON, power is supplied from the battery 17 to the internal power supply circuit 24 via the second switch 23.

[0046] The internal power supply circuit 24 supplies power to each unit of the lawn mower 2. For example, the internal power supply circuit 24 supplies a DC voltage of 3 V to the first control unit 20. For example, the internal power supply circuit 24 supplies a DC voltage of 5 V to the first switch 22. In other words, the internal power supply circuit 24 generates DC voltages having a plurality of voltage values ​​from the DC voltage supplied by the battery 17 and supplies each unit of the lawn mower 2 with a DC voltage having a voltage value suitable for the operation of each unit. Furthermore, since the internal power supply circuit 24 is connected to the connection unit 32, power is supplied from the charging station 3 to the internal power supply circuit 24 when the third switch 312 is set to ON. The internal power supply circuit 24 will be described with reference to Fig. 5 will be described further.

[0047] The first communication unit 25 communicates with the second communication unit 314 of the charging station 3. In particular, the first communication unit 25 communicates with the second communication unit 314 via wireless communication, such as Bluetooth (registered trademark). The first communication unit 25 corresponds to an example of a "transmission unit." [1-4. Configurations of a first control unit and a second control unit]

[0048] Fig. 5 is a diagram showing examples of a configuration of the first control unit 20 and a configuration of the second control unit 311.

[0049] The first control unit 20 includes a charging time calculation unit 201, a period calculation unit 202, and a transition unit 203. Specifically, the processor of the first control unit 20 functions as the charging time calculation unit 201, the period calculation unit 202, and the transition unit 203 by executing a control program stored in the memory.

[0050] The second control unit 311 includes a current detection unit 311A, an information acquisition unit 311B, and a shutdown control unit 311C. Specifically, the processor of the second control unit 311 executes a control program stored in the memory, whereby the second control unit 311 functions as the current detection unit 311A, the information acquisition unit 311B, and the shutdown control unit 311C.

[0051] The charging time calculation unit 201 calculates a charging time TF required to complete charging of the battery 17 based on a remaining amount QR of the battery 17. For example, the charging time calculation unit 201 detects the battery voltage VB of the battery 17 and calculates the remaining amount QR of the battery 17 based on the battery voltage VB. Then, the charging time calculation unit 201 calculates a charging time TF required to complete charging of the battery 17 based on the remaining amount QR of the battery 17.

[0052] In the present embodiment, the charging time calculation unit 201 detects the battery voltage VB and calculates the remaining amount QR of the battery 17 based on the battery voltage VB, but the present invention is not limited to this mode. The charging time calculation unit 201 may calculate the remaining amount QR of the battery 17. For example, the charging time calculation unit 201 may calculate the remaining amount QR of the battery 17 based on the charging current JB.

[0053] The period calculation unit 202 calculates a cutoff period PC based on a charging time TF and a date and time at which a lawn mowing work is started. The cutoff period PC defines a period during which a supply power PS is cut off. Specifically, the cutoff period PC indicates a period from a charging start time to the time when the lawn mowing work is started. In other words, the cutoff period PC indicates a period from a charging start time to the time when the cutoff of the supply power PS is released. The lawn mowing work corresponds to an example of "predetermined work." The date and time at which the lawn mowing work is started are stored in advance in the memory of the first control unit 20. The "supply power PS" indicates a power to be supplied from the charging station 3 to the lawn mower 2.

[0054] The period calculation unit 202 transmits shutdown period information DP to the charging station 3. The shutdown period information DP indicates the shutdown period PC. The shutdown period information DP corresponds to an example of "period information."

[0055] The transition unit 203 causes the lawn mower 2 to transition from a normal state to a power-saving state when charging of the battery 17 has been completed. In addition, the transition unit 203 causes the lawn mower 2 to transition from the power-saving state to the normal state when the shutdown period PC has elapsed.

[0056] Note that the "normal state" indicates a state in which the lawn mower 2 can perform the lawn mowing work. For example, the "normal state" indicates a state in which power is supplied from the battery 17 to the internal power supply circuit 24, and power is supplied from the internal power supply circuit 24 to each unit of the lawn mower 2.

[0057] The "power-saving state" indicates a state in which the power to be consumed by the lawn mower 2 is lower than in the "normal state." For example, the "power-saving state" indicates a state in which no power is supplied from the charging station 3 to the battery 17 and no power is supplied from the battery 17 to the internal power supply circuit 24. In this case, no power is supplied from the internal power supply circuit 24 to each unit of the lawn mower 2. In the present embodiment, the "power-saving state" is a so-called shutdown state.

[0058] Specifically, when charging of the battery 17 is completed, the transition unit 23 transmits the first signal SG1 instructing the first switch 22 to be turned off. The first switch 22 is turned off according to the instruction based on the first signal SG1 from the transition unit 23. When the first switch 22 is turned off, power supply from the charging station 3 to the battery 17 is interrupted.

[0059] When charging of the battery 17 is completed, the transition unit 203 transmits a second signal SG2 instructing "OFF" to the second switch 23. The second switch 23 is turned OFF according to the instruction based on the second signal SG2 from the transition unit 203. The second switch 23 is turned OFF, thereby interrupting power supply from the battery 17 to the internal power supply circuit 24.

[0060] When the shutdown period PC has elapsed, the transition unit 203 transmits the second signal SG2, which instructs execution of "ON," to the second switch 23. The second switch 23 is set to ON according to the instruction based on the second signal SG2 from the transition unit 203. Since the second switch 23 is set to ON, power is supplied from the battery 17 to the internal power supply circuit 24.

[0061] When the shutdown period PC has elapsed, the transition unit 203 transmits the first signal SG1 instructing execution of "ON" to the first switch 22. The first switch 22 is set to ON according to the instruction based on the first signal SG1 from the transition unit 203.

[0062] The current detection unit 311A ​​detects the charging current JB. Specifically, the current detection unit 311A ​​detects the current value of the charging current JB based on the third signal SG3 from the current detection circuit 313. The third signal SG3 indicates the current value of the charging current JB.

[0063] The information acquisition unit 311B acquires the off-period information DP from the period calculation unit 202. Specifically, the information acquisition unit 311B acquires the off-period information DP from the period calculation unit 202 via the first communication unit 25 and the second communication unit 314. The off-period information DP indicates the off-period PC of the supplied power PS.

[0064] The shutdown control unit 311C shuts off the supply power PS supplied from the charging station 3 to the lawn mower 2 when charging of the battery 17 is completed. Specifically, the shutdown control unit 311C determines whether charging of the battery 17 has been completed based on a detection result of a current detection unit 311A. More specifically, the shutdown control unit 311C determines that charging of the battery 17 has been completed when the current value of the charging current JB is less than or equal to a threshold value.

[0065] Further, when it is determined that the charging of the battery 17 has been completed, the shutdown control unit 311C transmits a fourth signal SG4 instructing execution of "OFF" to the third switch 312. The third switch 312 is set to OFF according to the instruction based on the fourth signal SG4 from the shutdown control unit 311C. Since the third switch 312 is set to OFF, the supply power PS supplied from the charging station 3 to the lawn mower 2 is turned off. As a result, the supply of power from the charging station 3 to the battery 17 and the internal power supply circuit 24 are turned off.

[0066] Further, the shutdown control unit 311C enables the shutdown of the supply power PS supplied from the charging station 3 to the lawn mower 2 based on the shutdown period information DP acquired by the information acquisition unit 311B. Specifically, the shutdown control unit 311C determines whether the shutdown period PC indicated by the shutdown period information DP has elapsed. If it is determined that the shutdown period PC has elapsed, the shutdown control unit 311C transmits the fourth signal SG4 instructing "ON" to the third switch 312. The third switch 312 is set to ON according to the instruction based on the fourth signal SG4 from the shutdown control unit 311C. Since the third switch 312 is set to ON, the switching off of the delivery power PS, which is supplied from the charging station 3 to the lawn mower 2, is enabled.In other words, the delivery power PS is delivered from the charging station 3 to the lawn mower 2. As a result, power is delivered from the charging station 3 to the internal power delivery circuit 24.

[0067] When the supply of power from the charging station 3 to the internal power supply circuit 24 is started during the period when the supply of power from the battery 17 is cut off, the internal power supply circuit 24 generates power for causing the transition unit 203 to operate from the power supplied from the charging station 3.

[0068] Specifically, when charging of the battery 17 has been completed and the shutdown period PC has elapsed, the internal power supply circuit 24 generates power for causing the first control unit 20 to operate from the power supplied from the charging station 3, and supplies the power to the first control unit 20.

[0069] In other words, when charging of the battery 17 has been completed, the second switch 23 is turned OFF according to an instruction from the transition unit 203. When the shutdown period PC has elapsed, the third switch 312 is turned ON according to an instruction from the shutdown control unit 311C. Therefore, when charging of the battery 17 has been completed and the shutdown period PC has elapsed, the supply of power from the charging station 3 to the internal power supply circuit 24 is started during the period when the supply of power from the battery 17 is turned off.

[0070] In this way, when the supply of power from the charging station 3 to the internal power supply circuit 24 is started, the internal power supply circuit 24 generates power to cause the transition unit 203 to operate from the power supplied from the charging station 3, making the transition unit 203 operable. The transition unit 203 causes the lawn mower 2 to transition from the power-saving state to the normal state when the shutdown period PC has elapsed. As a result, the lawn mower 2 is allowed to perform lawn mowing work. [2. Specific example of switch operation]

[0071] Fig. 6 is a timing chart showing an example of operations of the first switch 22, the second switch 23, and the third switch 312.

[0072] In Fig. In Figure 6, the timing diagram of the first switch 22 is shown at an upper portion, the timing diagram of the second switch 23 is shown at a central portion, and the timing diagram of the third switch 312 is shown at a lower portion. The horizontal axis of each timing diagram represents a time T, and the vertical axis represents whether the switch is set to ON or OFF.

[0073] First, at a time TA, the lawn mower 2 is placed on the stand table 33, and the connection unit 32 connects the charging station 3 and the lawn mower 2 so that power transfer is possible therebetween. When the second control unit 311 detects that the charging station 3 and the lawn mower 2 are connected to each other so that power transfer is possible therebetween, the second control unit 311 transmits the fourth signal SG4 instructing "ON" to the third switch 312. The third switch 312 is set to ON according to the instruction based on the fourth signal SG4 from the second control unit 311. The third switch 312 is set to ON, thereby starting charging of the battery 17.

[0074] Next, at a time TB, the transition unit 203 determines that the charging of the battery 17 has been completed and causes the lawn mower 2 to transition from the normal state to the power saving state.

[0075] Specifically, the transition unit 203 transmits the first signal SG1, which instructs to execute "OFF," to the first switch 22. The first switch 22 is set to OFF according to the instruction based on the first signal SG1 from the transition unit 203. The first switch 22 is set to OFF, thereby cutting off the supply of power from the charging station 3 to the battery 17.

[0076] Further, at time TB, the transition unit 203 transmits the second signal SG2, which instructs execution of "OFF," to the second switch 23. The second switch 23 is set to OFF according to the instruction based on the second signal SG2 from the transition unit 203. The second switch 23 is set to OFF, thereby cutting off supply of power from the battery 17 to the internal power supply circuit 24.

[0077] Next, at a time TC, the shutdown control unit 311C determines that the charging of the battery 17 has been completed and transmits the fourth signal SG4 instructing execution of "OFF" to the third switch 312. The third switch 312 is set to OFF according to the instruction based on the fourth signal SG4 from the shutdown control unit 311C. The third switch 312 is set to OFF, thereby shutting off a supply power PS supplied from the charging station 3 to the lawn mower 2.

[0078] Next, at time TD, the shutdown control unit 311C determines that the shutdown period PC has elapsed and transmits the fourth signal SG4 instructing execution of "ON" to the third switch 312. The third switch 312 is set to ON according to the instruction based on the fourth signal SG4 from the shutdown control unit 311C. The third switch 312 is set to ON, thereby enabling the shutdown of the supply power PS supplied from the charging station 3 to the lawn mower 2. In other words, the supply power PS is supplied from the charging station 3 to the lawn mower 2. As a result, power is supplied to the first control unit 20 through the internal power supply circuit 24, the first control unit 20 is started, and the transition unit 203 is set to be ready for processing.

[0079] Next, at a time TE, the transition unit 203 determines that the shutdown period PC has elapsed and transmits the first signal SG1 instructing "ON" to the first switch 22. The first switch 22 is set to ON according to the instruction based on the first signal SG1 from the transition unit 203. The first switch 22 is set to ON, thereby supplying power from the charging station 3 to the battery 17.

[0080] Further, the transition unit 203 transmits the second signal SG2, which instructs execution of "ON," to the second switch 23. The second switch 23 is set to ON according to the instruction based on the second signal SG2 from the transition unit 203. The second switch 23 is set to ON, thereby supplying power from the battery 17 to the internal power supply circuit 24. [Processing of the first control unit and the second control unit]

[0081] Fig. 7 is a flowchart showing an example of processing of the first control unit 20.

[0082] It should be noted that a case where each of the first switch 22, the second switch 23 and the third switch 312 is set to ON in an initial state of Fig. 7 will be described.

[0083] As shown in Fig. 7, in step SA101, the first control unit 20 first determines whether charging of the battery 17 has started. For example, according to whether a charging current JB flows through the first switch 22, the first control unit 20 determines whether charging of the battery 17 has started.

[0084] If the first control unit 20 determines that charging of the battery 20 has not started (step SA101: No), the processing is set to a standby state. If the first control unit 20 determines that charging of the battery 17 has started (step SA101: Yes), the processing proceeds to step SA103.

[0085] In step SA103, the first control unit 20 transmits charging start information DA to the second control unit 311. The charging start information DA is information indicating that charging has started.

[0086] Next, in step SA105, the first control unit 20 determines whether reception response information DB has been detected. The reception response information DB is information indicating that the second control unit 311 has received the charging start information DA.

[0087] When the first control unit 20 determines that the reception response information DB has not been detected (step SA105: No), the processing proceeds to a step SA107.

[0088] In step SA107, the first control unit 20 determines whether the charging start information DA has been transmitted to the second control unit 311 only a predetermined number of times. The predetermined number of times is, for example, three times.

[0089] If the first control unit 20 determines that the charging start information DA has been transmitted to the second control unit 311 only the predetermined number of times (step SA107: Yes), the processing is terminated. If the first control unit 20 determines that the charging start information DA has not been transmitted to the second control unit 311 only the predetermined number of times (step SA107: No), the processing returns to step SA103.

[0090] When the first control unit 20 determines that the reception response information DB has been detected (step SA105: Yes), the processing proceeds to a step SA109.

[0091] In step SA109, the charging time calculation unit 201 calculates the charging time TF required to complete the charging of the battery 17 based on the remaining amount QR of the battery 17.

[0092] Next, in step SA111, the period calculation unit 202 calculates the shutdown period PC based on the charging time TF and the date and time when lawn mowing is started. The shutdown period PC indicates a period from the time when charging is started to the time when the shutdown of the delivery power PS is enabled.

[0093] Next, in a step SA113, the period calculation unit 202 transmits shutdown period information DP to the second control unit 311. The shutdown period information DP is information indicating the shutdown period PC.

[0094] Next, in step SA115, the transition unit 203 determines whether charging of the battery 17 has been completed and the supply power PS has been turned off. For example, the transition unit 203 determines whether the supply power PS has been turned off based on the charging current JB. Specifically, if the charging current JB is zero, the transition unit 203 determines that the supply power PS has been turned off.

[0095] If the transition unit 203 determines that the supply power PS is not turned off (step SA115: No), the processing is set to a standby state. If the transition unit 203 determines that the supply power PS has been turned off (step SA115: Yes), the processing proceeds to step SA117.

[0096] In step SA117, the transition unit 203 causes the lawn mower 2 to transition from the normal state to the power-saving state. Specifically, the transition unit 203 sets the first switch 22 to OFF and sets the second switch 23 to OFF.

[0097] Next, in step SA119, the internal power supply circuit 24 determines whether power supply from the charging station 3 to the internal power supply circuit 24 has started. If the internal power supply circuit 24 determines that power supply from the charging station 3 to the internal power supply circuit 24 has not started (step SA119: No), the processing is set to a standby state. If the internal power supply circuit 24 determines that power supply from the charging station 3 to the internal power supply circuit 24 has started (step SA119: Yes), the processing proceeds to step SA121.

[0098] In step SA121, the internal power supply circuit 24 generates power for causing the first control unit 20 to operate from the power supplied from the charging station 3, and supplies the power to the first control unit 20. The transition unit 203 starts supplying power from the battery 17 to the internal power supply circuit 24. Specifically, the transition unit 203 starts supplying power from the battery 17 to the internal power supply circuit 24 by setting the second switch 23 to ON.

[0099] Next, in step SA123, the transition unit 203 causes the lawn mower 2 to transition from the power-saving state to the normal state, and the processing is terminated. Specifically, the transition unit 203 sets the first switch 22 to ON.

[0100] Fig. 8 is a flowchart showing an example of processing of the second control unit 311.

[0101] It should be noted that a case where each of the first switch 22, the second switch 23 and the third switch 312 is set to ON in an initial state of Fig. 8 will be described.

[0102] In step SB101, the second control unit 311 first determines whether a connection with the lawn mower 2 has been detected. For example, the second control unit 311 determines whether the connection with the lawn mower 2 has been detected by detecting an electrical line at the connection unit 32.

[0103] If the second control unit 311 determines that the connection with the lawn mower 2 has not been detected (step SB101: No), the processing is set to a standby state. If the second control unit 311 determines that the connection with the lawn mower 2 has been detected (step SB101: Yes), the processing proceeds to step SB103.

[0104] Next, in a step SB103, the second control unit 311 starts charging the battery 17.

[0105] Next, in step SB105, the second control unit 311 determines whether the charging start information DA has been received. The charging start information DA indicates that the first control unit 20 begins transmitting the shutdown period information DP to the second control unit 311.

[0106] If the second control unit 311 determines that the charging start information DA has not been received (step SB105: No), the processing is set to a standby state. If the second control unit 311 determines that the charging start information DA has been received (step SB105: No), the processing proceeds to step SB107.

[0107] In step SB107, the second control unit 311 transmits the reception response information DB to the first control unit 20. The reception response information DB indicates that the charging start information DA has been received.

[0108] Next, in a step SB109, the information receiving unit 311B determines whether the shutdown period information DP has been received.

[0109] If the information acquisition unit 311B determines that the shutdown period information DP has not been received (step SB109: No), the processing is set to a standby state. If the information acquisition unit 311B determines that the shutdown period information DP has been received (step SB109: Yes), the processing proceeds to step SB111.

[0110] In step SB111, the information acquisition unit 311B acquires the shutdown period information DP. The shutdown period information DP indicates the shutdown period PC of the delivery power PS. The shutdown period PC indicates a period from a time when charging is started to a time when shutdown of the delivery power PS is released.

[0111] Next, in a step SB113, the shutdown control unit 311C starts counting the shutdown period PC.

[0112] Next, in step SB115, the shutdown control unit 311C determines whether charging of the battery 17 has been completed.

[0113] If the shutdown control unit 311C determines that charging of the battery 17 has not been completed (step SB115: No), the processing is set to a standby state. If the shutdown control unit 311C determines that charging of the battery 17 has been completed (step SB115: Yes), the processing proceeds to step SB117.

[0114] In step SB117, the shutdown control unit 311C shuts down the supply power PS. In other words, the shutdown control unit 311C shuts down the supply of power from the charging station 3 to the battery 17 and the internal power supply circuit 24.

[0115] Next, in a step SB119, the shutdown control unit 311C determines whether the shutdown period PC has elapsed.

[0116] If the shutdown control unit 311C determines that the shutdown period PC has not elapsed (step SB119: No), the processing is set to a standby state. If the shutdown control unit 311C determines that the shutdown period PC has elapsed (step SB119: Yes), the processing proceeds to step SB121.

[0117] In step SB121, the shutdown control unit 311C enables the shutdown of the supply power PS. In other words, the shutdown control unit 311C begins supplying power from the charging station 3 to the battery 17 and the internal power supply circuit 24. After that, the processing is terminated.

[0118] Step SA111 in Fig. Figure 7 shows an example of a “calculation step”. Step SA113 in Fig. Figure 7 shows an example of a “transfer step”. Step SB111 in Fig. Figure 8 shows an example of an information acquisition step. Step SB117 in Fig. Figure 8 shows an example of a shutdown step. Steps SB119 and SB121 in Fig. 8 correspond to an example of a “release step”. [4. Effect of an embodiment]

[0119] As described above, in the present embodiment, the charging control system 100 includes the battery 17 and also includes the lawn mower 2, which performs lawn mowing work while traveling autonomously, and the charging station 3 for charging the battery 17. The lawn mower 2 includes the period calculation unit 202 for calculating the cut-off period PC of the supply power PS supplied from the charging station 3, and the first communication unit 24. The charging station 3 includes the second communication unit 314, which communicates with the first communication unit 25, the information acquisition unit 311B for acquiring the cut-off period information DP indicating the cut-off period PC from the period calculation unit 202 via the first communication unit 25, and the cut-off control unit 311C for cutting off the supply power PS.The shutdown control unit 311C enables the shutdown of the delivery power to the lawn mower 2 based on the shutdown period information DP.

[0120] In other words, the information acquisition unit 311B acquires the shutdown period information DP from the period calculation unit 202 through communication. Further, the shutdown control unit 311C shuts down the supply power PS and enables the shutdown of the supply power PS based on the shutdown period information DP.

[0121] Accordingly, the power consumption of the lawn mower 2 can be reduced. For example, when charging is completed, the shutdown control unit 311C shuts down the delivery power PS, and when the shutdown period PC has elapsed, the shutdown control unit 311C releases the shutdown of the delivery power PS. In this case, the power consumption of the lawn mower 2 can be effectively reduced.

[0122] Moreover, a control method for the charging station 3, the lawn mower 2 and the charging control system 100 according to the present embodiment can obtain the same effect as described above.

[0123] Further, the lawn mower 2 includes the charging time calculation unit 201 for calculating the charging time TF required to complete the charging of the battery 17 based on the remaining amount of the battery 17, and the period calculation unit 202 calculates the shutdown period PC based on the charging time TF and the date and time when the lawn mowing work is started.

[0124] Therefore, an appropriate shutdown period PC can be calculated. Accordingly, the power consumption of lawn mower 2 can be effectively reduced.

[0125] Further, when charging of the battery 17 has been completed, the shutdown control unit 311C turns off the delivery power PS.

[0126] Accordingly, power consumption can be effectively reduced.

[0127] Furthermore, when the shutdown period PC has elapsed, the shutdown control unit 311C enables the shutdown of the delivery power PS.

[0128] Therefore, with a simple configuration, lawn mower 2 can be notified that the shutdown period PC has elapsed. Therefore, lawn mower 2 can be started at a suitable time.

[0129] Further, the lawn mower 2 includes the transition unit 203 for causing the lawn mower 2 to transition from the normal state to the power saving state when charging of the battery 17 has been completed.

[0130] Therefore, when charging of the battery 17 is completed, the lawn mower 2 is transferred from the normal state to the power-saving state. Therefore, power consumption of the lawn mower 2 can be reduced.

[0131] In addition, when the shutdown period PC has elapsed, the transition unit 203 causes the lawn mower 2 to transition from the power saving state to the normal state.

[0132] Accordingly, the lawn mower 2 is maintained in a power-saving state until the shutdown period PC has elapsed. Therefore, the power consumption of the lawn mower 2 can be reduced. Furthermore, since the lawn mower 2 has been transferred from the power-saving state to the normal state when the shutdown period PC has elapsed, the lawn mower 2 can be transferred to a state in which it can operate at a reasonable time.

[0133] The lawn mower 2 also includes the internal power supply circuit 24 for generating an operating power for the lawn mower 2 based on a stored power of the battery 17. The transition unit 203 switches off a supply of power from the battery 17 to the internal power supply circuit 24 when charging of the battery 17 has been completed.

[0134] Therefore, when charging of the battery 17 is completed, the power supply from the battery 17 to the internal power supply circuit 24 for generating the operating power of the lawn mower 2 is cut off, so that the consumption amount of power stored in the battery 17 can be reduced. Therefore, the power consumption of the lawn mower 2 can be reduced.

[0135] Furthermore, the charging control system 100 is configured to supply power from the charging station 3 to the internal power supply circuit 24. When the supply of power from the charging station 3 to the internal power supply circuit 24 is started during the period when the supply of power from the battery 17 is shut off, the internal power supply circuit 24 generates power to cause the transition unit 203 to operate on the power supplied from the charging station 3.

[0136] Therefore, even during the period when the supply of power from the battery 17 to the internal power supply circuit 24 is cut off, the transition unit 203 can be caused to operate by the power supplied from the charging station 3. Accordingly, the transition unit 203 can be operated even during the period when the supply of power from the battery 17 to the internal power supply circuit 24 is cut off. As a result, it is possible to reduce the power consumption of the lawn mower 2 during the period when the supply of power from the battery 17 to the internal power supply circuit 24 is cut off. [5. Other embodiments]

[0137] The present invention is not limited to the configuration of the above-described embodiment and can be implemented in various modes without departing from the subject matter of the invention.

[0138] For example, in the present embodiment, the "autonomously driving work machine" is a robot lawn mower 2, but the present invention is not limited to this mode. The "autonomously driving work machine" can perform a predetermined work while driving autonomously. For example, the "autonomously driving work machine" can be a security robot that performs monitoring work while driving autonomously.

[0139] In the present embodiment, the "power-saving state" is a so-called shutdown state, but the present invention is not limited to this mode. The "power-saving state" may be a so-called sleep state. In this case, the configuration of the lawn mower 2 can be simplified. In particular, the second switch 23 of the lawn mower 2 is not necessary. Even in a state where the supply power PS is turned off, power is supplied from the battery 17 to the internal power supply circuit 24, so that the lawn mower 2 can be easily transferred to the "normal state." As a result, the processing of the first control unit 20 can be simplified.

[0140] In the present embodiment, the shutdown control unit 311C shuts off the power supply to the lawn mower 2 from the time when charging of the battery has been completed until the time when the shutdown period PC has elapsed, but the present invention is not limited to this mode.

[0141] The shutdown of the power supply to lawn mower 2 can be enabled based on the shutdown period PC.

[0142] For example, the power supply to the lawn mower 2 may be turned off after the amount of power stored in the battery 17 reaches a predetermined amount. The predetermined amount is set, for example, to 80% of the amount stored when fully charged. In this case, it is possible to effectively reduce the consumption of power supplied from the charging station 3 to the lawn mower 2. In this case, the charging time calculation unit 201 does not need to calculate the charging time TF. In this case, the period calculation unit 202 calculates the shutdown period PC based on the date and time at which a lawn mowing work is started.

[0143] For example, "the date and time when the lawn mowing work is started" is stored in a memory of the first control unit 20 of the lawn mower 2 by user input. For example, a work time zone for starting the lawn mowing work is stored in the memory for each day of the week. The work time zone may exist multiple times in one day. The period calculation unit 202 may calculate, as the "off period PC," the time from a "current time" to a "work time zone that will come next among a plurality of work time zones" stored in the memory.

[0144] Furthermore, the power supply to the lawn mower 2 can be turned off until a predetermined time has elapsed before the shutdown period PC. The predetermined time is, for example, the time required to start the lawn mower 2. In this case, the lawn mower 2 can be operated immediately after the shutdown period PC has elapsed.

[0145] In the present embodiment, the charging station 3 and the lawn mower 2 communicate with each other wirelessly, but the present invention is not limited to this mode. The charging station 3 and the lawn mower 2 can communicate with each other. For example, the charging station 3 and the lawn mower 2 can communicate with each other in a wired communication mode. Specifically, a communication line may be configured to connect the second control unit 311 and the first control unit 20 via the connection unit 32, whereby the second control unit 311 and the first control unit 20 communicate with each other, so that the second control unit 311 and the first control unit 20 can communicate with each other via the communication line. Further, the second control unit 311 and the first control unit 20 can perform, for example, so-called power line communication via a power line.

[0146] At least some of the functional blocks contained in Fig. 2 to 4, and the like, may be configured to be implemented by hardware, or may be configured to be implemented by a combination of hardware and software. The present invention is not limited to a configuration in which independent hardware resources are arranged as shown in the figures.

[0147] The control program executed by each of the first control unit 20 and the second control unit 311 may be stored in a different storage unit in the memory. Furthermore, each of the first control unit 20 and the second control unit 311 may be configured to receive a control program stored in an external device via the communication unit or the like and execute the control program.

[0148] The timing diagram shown in Fig. 6 is merely an example, and the present invention is not limited to this example. For example, in Fig. 6, the first switch 23 is set to OFF, the second switch 24 is set to OFF, and the third switch 312 is set to OFF from time TB to time TC, but the present invention is not limited to this mode. The first switch 23 may be set to OFF, the third switch 312 may be set to OFF, and the second switch 24 may be set to OFF.

[0149] The processing units of the flowcharts, which are in Fig. 7 and Fig. 8 are obtained by dividing the processing of each of the first control unit 20 and the second control unit 311 according to main processing contents in order to simplify an understanding of the processing of each of the first control unit 20 and the second control unit 311. The embodiments are not limited by a dividing manner and names of the processing units shown in the flowcharts shown in Fig. 7 and Fig. 8. Furthermore, the processing of the first control unit 20 and the second control unit 311 may be divided into multiple processing units according to the processing contents, or may be divided so that one processing unit includes multiple processing pieces. Furthermore, the processing orders of the flowcharts described above are not limited to the examples shown in the figures.

[0150] Further, when the charging time calculation unit 201 does not calculate the charging time TF, step SA109 in Fig. 7 and step SB105 in Fig. 8 unnecessary. Furthermore, in Fig. 7, the processing from step SA103 to step SA107 is executed after step SA113. The processing from step SB105 in Fig. 8 can be executed after step SB109.

[0151] A charging control system 100 aims to reduce power consumption and includes a lawn mower including a battery 17 and performing lawn mowing while traveling autonomously, and a charging station 3 for charging the battery 17. The lawn mower 2 includes a period calculation unit 202 for calculating a cut-off period PC of the supply power PS supplied from the charging station 3, and a first communication unit 25. The charging station 3 includes a second communication unit 314 communicating with the first communication unit 25, an information acquisition unit 311B for acquiring cut-off period information DP indicating the cut-off period PC from the first communication unit 25 via the second communication unit 314, a switch 312 for cutting off the supply power PS, and a cut-off control unit 311C for controlling the operation of the switch 312.The shutdown control unit 311C enables the shutdown of the power supply to the lawn mower 2 based on the shutdown period information DP. [Description of reference symbols] 100 Charging Control System 2 robotic lawnmowers, lawnmower (autonomously driving work machine) 17 Battery 20 first control unit 201 Charging time calculation unit 202 Period calculation unit 203 Transition Unit 22 first switch 23 second switch 24 internal power supply circuit 25 first communication unit (transmitter / transmission unit) 3 charging stations 31 Control board 311 second control unit 311A current detection unit 311B Information Recording Unit 311C shutdown control unit 312 third switch (shutdown unit) 314 second communication unit 32 connection unit 4 Conversion device 42 AC / DC adapters DA charging start information DB Receive Response Information DP shutdown period information (period information) JB charge current PC shutdown period PS delivery performance TF charging time VB Battery voltage

Claims

[1] Charging control system, comprising: an autonomously driving work machine (2) comprising a battery (17) and performing a predetermined work while driving autonomously; and a charging station (3) for charging the battery, characterized by that the autonomously driving work machine comprises a period calculation unit (202) for calculating a shutdown period of a supply power supplied by the charging station, and a first communication unit (25), The charging station includes: a second communication unit (314) communicating with the first communication unit; an information receiving unit (311B) for receiving period information indicating the shutdown period from the first communication unit via the second communication unit; a shutdown unit (312) for switching off the delivery power; and a shutdown control unit (311C) for controlling an operation of the shutdown unit, and wherein the shutdown control unit enables the shutdown of the supply power based on the period information. [2] The charging control system according to claim 1, wherein the autonomous driving work machine includes a calculation unit for calculating the shutdown period based on a current time and a date and time when the predetermined work has been started. [3] The charging control system according to claim 1, wherein the autonomous driving work machine includes a charging time calculation unit (201) for calculating a charging time required to complete charging of the battery based on a remaining amount of the battery, and wherein the period calculation unit calculates the shutdown period based on the charging time and the date and time when the predetermined work starts. [4] The charging control system according to any one of claims 1 to 3, wherein when charging of the battery has been completed, the shutdown control unit shuts off the supply power. [5] The charging control system according to any one of claims 1 to 4, wherein, when the shutdown period has elapsed, the shutdown control unit enables the shutdown of the supply power. [6] The charging control system according to any one of claims 1 to 5, wherein the autonomously driving work machine comprises a transition unit (203) for causing the autonomously driving work machine to transition from a normal state to a power-saving state when charging of the battery has been completed. [7] The charging control system according to claim 6, wherein, when the shutdown period has elapsed, the transition unit causes the autonomous driving work machine to transition from the power saving state to the normal state. [8] The charging control system according to claim 6 or 7, wherein the autonomously driving work machine comprises an internal power supply circuit (24) for generating an operating power for the autonomously driving work machine based on power stored in the battery, and wherein the transition unit cuts off the power supply from the battery to the internal power supply circuit when charging of the battery has been completed. [9] The charging control system according to claim 8, wherein the charging control system is configured to be capable of supplying power from the charging station to the internal power supply circuit, and during a period when the supply of power from the battery is cut off, when supplying power from the charging station to the internal power supply circuit is started, the internal power supply circuit generates power for operating the transition unit with the power supplied from the charging station. [10] Charging station for charging a battery (17) of an autonomously driving work machine (2) for performing a predetermined work while driving autonomously, wherein the charging station characterized by is that it includes: an information acquisition unit (311B) for acquiring period information indicating a cut-off period of a supply power supplied to the autonomously driving work machine from the autonomously driving work machine and by communicating with the autonomously driving work machine; a shutdown unit (312) for switching off the delivery power; and a shutdown control unit (311C) for controlling an operation of the shutdown unit, wherein the shutdown control unit enables the shutdown of the supply power based on the period information. [11] Autonomously driving work machine comprising a battery (17) and performing a predetermined work while driving autonomously, wherein the autonomously driving work machine characterized by is that it includes: a period calculation unit (202) for calculating a shutdown period of the supply power supplied by the charging station (3); and a transmission unit for transmitting period information, which define the shutdown period, to the charging station, whereby the charging station receives the period information and releases the shutdown of the delivery power based on the period information. [12] Control method of a charging control system (100) comprising an autonomously driving work machine (2) which includes a battery (17) and performs a predetermined work while driving autonomously, and a charging station (3) for charging the battery, the control method characterized by is that it includes: a calculation step for calculating a shutdown period of a supply power supplied from the charging station by the autonomously driving work machine; a transfer step for transferring period information, which indicate the shutdown period, to the charging station by the autonomously driving work machine; an information recording step for recording the period information, to record the period information, by the charging station; a shutdown step to switch off the delivery power by the charging station; and a release step to enable the charging station to switch off the delivery power based on the period information.

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